虚拟环境下事件驱动机器人教学的仿真与实现

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788) Pub Date : 2004-06-15 DOI:10.1109/WCICA.2004.1342389

Maoyuan Cui, Zaili Dong, Yantao Tian

{"title":"虚拟环境下事件驱动机器人教学的仿真与实现","authors":"Maoyuan Cui, Zaili Dong, Yantao Tian","doi":"10.1109/WCICA.2004.1342389","DOIUrl":null,"url":null,"abstract":"One of the most widely used robot working paradigms is surely the teaching-playback. Conventional teaching process is very tedious and time-consuming, even dangerous. This paper presents a new development method for event-driven robot teaching in a virtual environment. By using agent-oriented programming scripts, the prior knowledge from task world and the new knowledge from sensors during the real-time execution are both integrated to the virtual workcell. With the help of event based control, a safe and efficient teaching system is developed. Simulation and execution experiment results with a MOTOMAN-k10s welding robot show that the method is effective.","PeriodicalId":331407,"journal":{"name":"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)","volume":"1247 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2004-06-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Simulation and execution of event-driven robot teaching in a virtual environment\",\"authors\":\"Maoyuan Cui, Zaili Dong, Yantao Tian\",\"doi\":\"10.1109/WCICA.2004.1342389\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"One of the most widely used robot working paradigms is surely the teaching-playback. Conventional teaching process is very tedious and time-consuming, even dangerous. This paper presents a new development method for event-driven robot teaching in a virtual environment. By using agent-oriented programming scripts, the prior knowledge from task world and the new knowledge from sensors during the real-time execution are both integrated to the virtual workcell. With the help of event based control, a safe and efficient teaching system is developed. Simulation and execution experiment results with a MOTOMAN-k10s welding robot show that the method is effective.\",\"PeriodicalId\":331407,\"journal\":{\"name\":\"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)\",\"volume\":\"1247 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2004-06-15\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/WCICA.2004.1342389\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/WCICA.2004.1342389","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

摘要

最广泛使用的机器人工作模式之一当然是教学回放。传统的教学过程非常繁琐和耗时，甚至是危险的。本文提出了一种虚拟环境下事件驱动机器人教学的新开发方法。利用面向智能体的编程脚本，将实时执行过程中来自任务世界的先验知识和来自传感器的新知识集成到虚拟工作单元中。在事件控制的基础上，开发了一个安全高效的教学系统。基于MOTOMAN-k10s焊接机器人的仿真和执行实验结果表明，该方法是有效的。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Simulation and execution of event-driven robot teaching in a virtual environment

One of the most widely used robot working paradigms is surely the teaching-playback. Conventional teaching process is very tedious and time-consuming, even dangerous. This paper presents a new development method for event-driven robot teaching in a virtual environment. By using agent-oriented programming scripts, the prior knowledge from task world and the new knowledge from sensors during the real-time execution are both integrated to the virtual workcell. With the help of event based control, a safe and efficient teaching system is developed. Simulation and execution experiment results with a MOTOMAN-k10s welding robot show that the method is effective.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788)

自引率

0.00%

发文量